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An inverse dynamics‐based dynamic programming method for optimal control problems of linear systems
Author(s) -
Yen ChenWen V.,
Liu TsongZen
Publication year - 1998
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/(sici)1099-1514(199809/10)19:5<363::aid-oca635>3.0.co;2-6
Subject(s) - dynamic programming , interpolation (computer graphics) , computer science , mathematical optimization , optimal control , inverse dynamics , system dynamics , inverse , mathematics , artificial intelligence , motion (physics) , physics , geometry , classical mechanics , kinematics
In solving optimal control problems, the conventional dynamic programming method often requires interpolations to determine the optimal control law. As a consequence, interpolation errors often degenerate the accuracy of the conventional dynamic programming method. In view of this problem, this paper introduces an inverse dynamics‐based dynamic programming method to eliminate the interpolation requirement for systems with linear dynamics. Simulation results show that the proposed approach provides more reliable solutions than the conventional dynamic programming method. Copyright © 1998 John Wiley & Sons, Ltd.